IMotor.hpp

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//
// IMotor interface for dependency injection and testing
//
#pragma once
 
#include "foundation/motor.hpp"
 
namespace libstp::hal::motor
{
    struct IMotor
    {
        virtual ~IMotor() = default;

        virtual void setSpeed(int percent) = 0;
        virtual void setVelocity(int velocity) = 0;
        virtual void moveToPosition(int velocity, int goalPosition) = 0;
        virtual void moveRelative(int velocity, int deltaPosition) = 0;
        [[nodiscard]] virtual int getPosition() const = 0;
        [[nodiscard]] virtual int getBemf() const = 0;
        [[nodiscard]] virtual bool isDone() const = 0;
        virtual void brake() = 0;
        virtual void off() = 0;
        virtual void resetPositionCounter() = 0;
 
        [[nodiscard]] virtual const foundation::MotorCalibration& getCalibration() const = 0;
        virtual void setCalibration(const foundation::MotorCalibration& calibration) = 0;
        [[nodiscard]] virtual int getPort() const = 0;
        [[nodiscard]] virtual bool isInverted() const = 0;

        virtual void setFirmwarePidGains(float kp, float ki, float kd)
        {
            (void)kp;
            (void)ki;
            (void)kd;
        }

        virtual void getLastFirmwarePidGains(float& kp, float& ki, float& kd) const
        {
            kp = 0.0f;
            ki = 0.0f;
            kd = 0.0f;
        }
    };
}